int x1;  
int y1;  
int x2;  
int y2;  
int x;

void setup() 
{
  pinMode(0, OUTPUT);
  pinMode(1, OUTPUT);
  pinMode(2, INPUT);  //LEFT
  pinMode(13, INPUT); // RIGHT
  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(11, OUTPUT);
  pinMode(6, OUTPUT); //Enable
  pinMode(5, OUTPUT); //Step 
  pinMode(4, OUTPUT); //Direction
  digitalWrite(6,HIGH);    //enable
  digitalWrite(2,HIGH);
  digitalWrite(0,LOW);
  digitalWrite(1,LOW);
  digitalWrite(13,HIGH);
}

void loop() 
{         x1= analogRead(A1);//LEFT
          y1=analogRead(A2);//LEFT
          x2=analogRead(A3);//RIGHT
          y2=analogRead(A4);//RIGHT

  if (digitalRead(13)==0){
    digitalWrite(0,HIGH);
    delay(100);
    digitalWrite(0,LOW);}

 if (digitalRead(2)==0)
 {digitalWrite(1,HIGH);
 delay(100);
 digitalWrite(1,LOW);}


        if (x1>900){
           digitalWrite(4,HIGH);
           digitalWrite(6,LOW); 
           for(x = 0; x< 13 ; x++){ 
              digitalWrite(5,HIGH);
              delayMicroseconds(150);
              digitalWrite(5,LOW);
              delayMicroseconds(150);   }    
           }
   
         else if (x1<200){
             digitalWrite(4,LOW);
             digitalWrite(6,LOW); 
             for(x = 0; x< 13 ; x++){ 
                digitalWrite(5,HIGH);
                delayMicroseconds(150);
                digitalWrite(5,LOW);
                delayMicroseconds(150);  } 
          }
          
          else if (y1<200){
             digitalWrite(4,LOW);
             digitalWrite(6,LOW); 
             for(x = 0; x< 2 ; x++){ 
                digitalWrite(5,HIGH);
                delayMicroseconds(500);
                digitalWrite(5,LOW);
                delayMicroseconds(500);  } 
          }

          else if (y1>900){
             digitalWrite(4,HIGH);
             digitalWrite(6,LOW); 
             for(x = 0; x< 2 ; x++){ 
                digitalWrite(5,HIGH);
                delayMicroseconds(500);
                digitalWrite(5,LOW);
                delayMicroseconds(500);  } 
          }


         else {digitalWrite(6,HIGH);} 
         
  
 
  if (x2>900){
  digitalWrite(8, HIGH);
  digitalWrite(9, LOW);
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
  
 delay(2);
  digitalWrite(8, LOW);
  digitalWrite(9, HIGH);
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
 delay(2);
  digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  digitalWrite(10, HIGH);
  digitalWrite(11, LOW);
 delay(2);
  digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  digitalWrite(10, LOW);
  digitalWrite(11, HIGH);
 delay(2);
 }
      

else if (x2<200){
   digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  digitalWrite(10, LOW);
  digitalWrite(11, HIGH);
   delay(2);
    digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  digitalWrite(10, HIGH);
  digitalWrite(11, LOW);
   delay(2);
  digitalWrite(8, LOW);
  digitalWrite(9, HIGH);
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
 delay(2);
  digitalWrite(8, HIGH);
  digitalWrite(9, LOW);
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
   delay(2);
}
else if (y2<200){
   digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  digitalWrite(10, LOW);
  digitalWrite(11, HIGH);
   delay(6);
    digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  digitalWrite(10, HIGH);
  digitalWrite(11, LOW);
   delay(6);
  digitalWrite(8, LOW);
  digitalWrite(9, HIGH);
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
 delay(6);
  digitalWrite(8, HIGH);
  digitalWrite(9, LOW);
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
   delay(6);
}
else if (y2>900){
 digitalWrite(8, HIGH);
  digitalWrite(9, LOW);
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
  
 delay(6);
  digitalWrite(8, LOW);
  digitalWrite(9, HIGH);
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
 delay(6);
  digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  digitalWrite(10, HIGH);
  digitalWrite(11, LOW);
 delay(6);
  digitalWrite(8, LOW);
  digitalWrite(9, LOW);
  digitalWrite(10, LOW);
  digitalWrite(11, HIGH);
 delay(6);
 } 

}